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planning_environment::CollisionSpaceMonitor Class Reference

CollisionSpaceMonitor is a class which in addition to being aware of a robot model, is also aware of a collision space. More...

#include <collision_space_monitor.h>

Inheritance diagram for planning_environment::CollisionSpaceMonitor:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CollisionSpaceMonitor (CollisionModels *cm, tf::TransformListener *tf)
CollisionModelsgetCollisionModels (void) const
 Return the instance of collision models that is being used.
const
collision_space::EnvironmentModel
getEnvironmentModel (void) const
 Return the instance of the environment model maintained.
double getPointCloudPadd (void) const
 Returns the padding used for pointclouds (for collision checking).
bool haveMap (void) const
 Return true if map has been received.
bool isEnvironmentMonitorStarted (void) const
 Check if the environment monitor is currently started.
bool isMapUpdated (double sec) const
 Return true if a map update has been received in the last sec seconds. If sec < 10us, this function always returns true.
const ros::TimelastMapUpdate (void) const
 Return the last update time for the map.
void setUseCollisionMap (bool use)
void startEnvironmentMonitor (void)
 Start the environment monitor. By default, the monitor is started after creation.
void stopEnvironmentMonitor (void)
 Stop the environment monitor.
void waitForMap (void) const
 Wait until a map is received.
virtual ~CollisionSpaceMonitor (void)

Protected Member Functions

virtual bool attachObjectCallback (const arm_navigation_msgs::AttachedCollisionObjectConstPtr &attachedObject)
void collisionMapAsBoxes (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, std::vector< shapes::Shape * > &boxes, std::vector< btTransform > &poses)
void collisionMapAsBoxes (const arm_navigation_msgs::CollisionMap &collisionMap, std::vector< shapes::Shape * > &boxes, std::vector< btTransform > &poses)
void collisionMapAsSpheres (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, std::vector< shapes::Shape * > &spheres, std::vector< btTransform > &poses)
void collisionMapCallback (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap)
void collisionMapUpdateCallback (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap)
void collisionObjectCallback (const arm_navigation_msgs::CollisionObjectConstPtr &collisionObject)
void setupCSM (void)
void updateCollisionSpace (const arm_navigation_msgs::CollisionMapConstPtr &collisionMap, bool clear)

Protected Attributes

message_filters::Subscriber
< arm_navigation_msgs::AttachedCollisionObject > * 
attachedCollisionObjectSubscriber_
CollisionModelscm_
boost::recursive_mutex collision_map_lock_
tf::MessageFilter
< arm_navigation_msgs::CollisionMap > * 
collisionMapFilter_
message_filters::Subscriber
< arm_navigation_msgs::CollisionMap > * 
collisionMapSubscriber_
tf::MessageFilter
< arm_navigation_msgs::CollisionMap > * 
collisionMapUpdateFilter_
message_filters::Subscriber
< arm_navigation_msgs::CollisionMap > * 
collisionMapUpdateSubscriber_
tf::MessageFilter
< arm_navigation_msgs::CollisionObject > * 
collisionObjectFilter_
message_filters::Subscriber
< arm_navigation_msgs::CollisionObject > * 
collisionObjectSubscriber_
bool envMonitorStarted_
bool have_map_
ros::Time last_map_update_
double pointcloud_padd_
bool use_collision_map_

Detailed Description

CollisionSpaceMonitor is a class which in addition to being aware of a robot model, is also aware of a collision space.

Definition at line 54 of file collision_space_monitor.h.


Constructor & Destructor Documentation

planning_environment::CollisionSpaceMonitor::CollisionSpaceMonitor ( CollisionModels cm,
tf::TransformListener tf 
) [inline]

Definition at line 58 of file collision_space_monitor.h.

virtual planning_environment::CollisionSpaceMonitor::~CollisionSpaceMonitor ( void   )  [inline, virtual]

Definition at line 64 of file collision_space_monitor.h.


Member Function Documentation

bool planning_environment::CollisionSpaceMonitor::attachObjectCallback ( const arm_navigation_msgs::AttachedCollisionObjectConstPtr attachedObject  )  [protected, virtual]

Definition at line 371 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapAsBoxes ( const arm_navigation_msgs::CollisionMapConstPtr collisionMap,
std::vector< shapes::Shape * > &  boxes,
std::vector< btTransform > &  poses 
) [protected]

Definition at line 288 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapAsBoxes ( const arm_navigation_msgs::CollisionMap collisionMap,
std::vector< shapes::Shape * > &  boxes,
std::vector< btTransform > &  poses 
) [protected]

Definition at line 294 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapAsSpheres ( const arm_navigation_msgs::CollisionMapConstPtr collisionMap,
std::vector< shapes::Shape * > &  spheres,
std::vector< btTransform > &  poses 
) [protected]

Definition at line 232 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapCallback ( const arm_navigation_msgs::CollisionMapConstPtr collisionMap  )  [protected]

Definition at line 227 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionMapUpdateCallback ( const arm_navigation_msgs::CollisionMapConstPtr collisionMap  )  [protected]

Definition at line 221 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::collisionObjectCallback ( const arm_navigation_msgs::CollisionObjectConstPtr collisionObject  )  [protected]

Definition at line 366 of file collision_space_monitor.cpp.

CollisionModels* planning_environment::CollisionSpaceMonitor::getCollisionModels ( void   )  const [inline]

Return the instance of collision models that is being used.

Definition at line 102 of file collision_space_monitor.h.

const collision_space::EnvironmentModel* planning_environment::CollisionSpaceMonitor::getEnvironmentModel ( void   )  const [inline]

Return the instance of the environment model maintained.

Definition at line 96 of file collision_space_monitor.h.

double planning_environment::CollisionSpaceMonitor::getPointCloudPadd ( void   )  const [inline]

Returns the padding used for pointclouds (for collision checking).

Definition at line 126 of file collision_space_monitor.h.

bool planning_environment::CollisionSpaceMonitor::haveMap ( void   )  const [inline]

Return true if map has been received.

Definition at line 108 of file collision_space_monitor.h.

bool planning_environment::CollisionSpaceMonitor::isEnvironmentMonitorStarted ( void   )  const [inline]

Check if the environment monitor is currently started.

Definition at line 90 of file collision_space_monitor.h.

bool planning_environment::CollisionSpaceMonitor::isMapUpdated ( double  sec  )  const

Return true if a map update has been received in the last sec seconds. If sec < 10us, this function always returns true.

Definition at line 180 of file collision_space_monitor.cpp.

const ros::Time& planning_environment::CollisionSpaceMonitor::lastMapUpdate ( void   )  const [inline]

Return the last update time for the map.

Definition at line 120 of file collision_space_monitor.h.

void planning_environment::CollisionSpaceMonitor::setupCSM ( void   )  [protected]

Definition at line 52 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::setUseCollisionMap ( bool  use  ) 

Definition at line 99 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::startEnvironmentMonitor ( void   ) 

Start the environment monitor. By default, the monitor is started after creation.

Definition at line 70 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::stopEnvironmentMonitor ( void   ) 

Stop the environment monitor.

Definition at line 137 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::updateCollisionSpace ( const arm_navigation_msgs::CollisionMapConstPtr collisionMap,
bool  clear 
) [protected]

Definition at line 353 of file collision_space_monitor.cpp.

void planning_environment::CollisionSpaceMonitor::waitForMap ( void   )  const

Wait until a map is received.

Definition at line 202 of file collision_space_monitor.cpp.


Member Data Documentation

Definition at line 163 of file collision_space_monitor.h.

Definition at line 148 of file collision_space_monitor.h.

Definition at line 167 of file collision_space_monitor.h.

Definition at line 157 of file collision_space_monitor.h.

Definition at line 156 of file collision_space_monitor.h.

Definition at line 159 of file collision_space_monitor.h.

Definition at line 158 of file collision_space_monitor.h.

Definition at line 161 of file collision_space_monitor.h.

Definition at line 160 of file collision_space_monitor.h.

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Definition at line 153 of file collision_space_monitor.h.

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Definition at line 165 of file collision_space_monitor.h.


The documentation for this class was generated from the following files:
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planning_environment
Author(s): Ioan Sucan
autogenerated on Fri Mar 1 14:17:22 2013